CodeGen/Common/common_dev/discretePID.c: sign in I antiwindup

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CodeGen/Common/common_dev/discretePID.c: sign in I antiwindup #81

Closed zdebanos closed 4 months ago

zdebanos commented 4 months ago

Change the sign in the I windup for another time. Antiwindup procedure should not depend on the sign of the saturation value. Refer to the diagram below.